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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">b2PulleyJoint Class Reference</div>  </div>
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<!-- doxytag: class="b2PulleyJoint" --><!-- doxytag: inherits="b2Joint" -->
<p><code>#include &lt;<a class="el" href="b2_pulley_joint_8h_source.html">b2PulleyJoint.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for b2PulleyJoint:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classb2_pulley_joint.png" usemap="#b2PulleyJoint_map" alt=""/>
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<area href="classb2_joint.html" alt="b2Joint" shape="rect" coords="0,0,88,24"/>
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 </div></div>

<p><a href="classb2_pulley_joint-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05ac0d0d927e9541f08b07cb1bf9ec56"></a><!-- doxytag: member="b2PulleyJoint::GetAnchorA" ref="a05ac0d0d927e9541f08b07cb1bf9ec56" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a05ac0d0d927e9541f08b07cb1bf9ec56">GetAnchorA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the anchor point on bodyA in world coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5cc3596f683d621b9a885c2569ecd452"></a><!-- doxytag: member="b2PulleyJoint::GetAnchorB" ref="a5cc3596f683d621b9a885c2569ecd452" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a5cc3596f683d621b9a885c2569ecd452">GetAnchorB</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the anchor point on bodyB in world coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a38c174bf1cf1011063ff4c16556b331e"></a><!-- doxytag: member="b2PulleyJoint::GetReactionForce" ref="a38c174bf1cf1011063ff4c16556b331e" args="(float32 inv_dt) const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a38c174bf1cf1011063ff4c16556b331e">GetReactionForce</a> (float32 inv_dt) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the reaction force on bodyB at the joint anchor in Newtons. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a418b200055623474c44742b1342dd278"></a><!-- doxytag: member="b2PulleyJoint::GetReactionTorque" ref="a418b200055623474c44742b1342dd278" args="(float32 inv_dt) const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a418b200055623474c44742b1342dd278">GetReactionTorque</a> (float32 inv_dt) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the reaction torque on bodyB in N*m. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a19eefa28d2647882406ea9bfe2850a9e"></a><!-- doxytag: member="b2PulleyJoint::GetGroundAnchorA" ref="a19eefa28d2647882406ea9bfe2850a9e" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a19eefa28d2647882406ea9bfe2850a9e">GetGroundAnchorA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first ground anchor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1b49d0dbce802f19711a9ab6d7dadfee"></a><!-- doxytag: member="b2PulleyJoint::GetGroundAnchorB" ref="a1b49d0dbce802f19711a9ab6d7dadfee" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a1b49d0dbce802f19711a9ab6d7dadfee">GetGroundAnchorB</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the second ground anchor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6b4c2e5cb4f5da48fcb074c7b5988084"></a><!-- doxytag: member="b2PulleyJoint::GetLengthA" ref="a6b4c2e5cb4f5da48fcb074c7b5988084" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a6b4c2e5cb4f5da48fcb074c7b5988084">GetLengthA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current length of the segment attached to bodyA. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abc7f31a35c6fb32647fd15d57e4ce60c"></a><!-- doxytag: member="b2PulleyJoint::GetLengthB" ref="abc7f31a35c6fb32647fd15d57e4ce60c" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#abc7f31a35c6fb32647fd15d57e4ce60c">GetLengthB</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current length of the segment attached to bodyB. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a625685e60d95b7c5a725e8586d146752"></a><!-- doxytag: member="b2PulleyJoint::GetRatio" ref="a625685e60d95b7c5a725e8586d146752" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#a625685e60d95b7c5a725e8586d146752">GetRatio</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the pulley ratio. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad12d0e03b5d07b2f8af1005c95c67aa2"></a><!-- doxytag: member="b2PulleyJoint::Dump" ref="ad12d0e03b5d07b2f8af1005c95c67aa2" args="()" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_pulley_joint.html#ad12d0e03b5d07b2f8af1005c95c67aa2">Dump</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Dump joint to dmLog. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca1b8dc6fb05c134ccbc0423674c1867"></a><!-- doxytag: member="b2PulleyJoint::b2PulleyJoint" ref="aca1b8dc6fb05c134ccbc0423674c1867" args="(const b2PulleyJointDef *data)" -->
&#160;</td><td class="memItemRight" valign="bottom"><b>b2PulleyJoint</b> (const <a class="el" href="structb2_pulley_joint_def.html">b2PulleyJointDef</a> *data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1b339ba58e82261beeb55f9ab04cfa7e"></a><!-- doxytag: member="b2PulleyJoint::InitVelocityConstraints" ref="a1b339ba58e82261beeb55f9ab04cfa7e" args="(const b2SolverData &amp;data)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>InitVelocityConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a517858e93e24f3daa51be4873b22c2c3"></a><!-- doxytag: member="b2PulleyJoint::SolveVelocityConstraints" ref="a517858e93e24f3daa51be4873b22c2c3" args="(const b2SolverData &amp;data)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>SolveVelocityConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8fcdd728e02b7c89372bf11b7732d976"></a><!-- doxytag: member="b2PulleyJoint::SolvePositionConstraints" ref="a8fcdd728e02b7c89372bf11b7732d976" args="(const b2SolverData &amp;data)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><b>SolvePositionConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13456d1c62a4e96e8247988152be4166"></a><!-- doxytag: member="b2PulleyJoint::m_groundAnchorA" ref="a13456d1c62a4e96e8247988152be4166" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_groundAnchorA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9cc8195bf4e2d53606db0b49d9fc1cbc"></a><!-- doxytag: member="b2PulleyJoint::m_groundAnchorB" ref="a9cc8195bf4e2d53606db0b49d9fc1cbc" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_groundAnchorB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a26f2565f804692553e6b96e58621dbc9"></a><!-- doxytag: member="b2PulleyJoint::m_lengthA" ref="a26f2565f804692553e6b96e58621dbc9" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_lengthA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa44e84a3eed2ded26fca07281e247bbd"></a><!-- doxytag: member="b2PulleyJoint::m_lengthB" ref="aa44e84a3eed2ded26fca07281e247bbd" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_lengthB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a58cb3464ba25236e316b35d66e92366f"></a><!-- doxytag: member="b2PulleyJoint::m_localAnchorA" ref="a58cb3464ba25236e316b35d66e92366f" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localAnchorA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af643cf90fb22709fe410164d8a46ea50"></a><!-- doxytag: member="b2PulleyJoint::m_localAnchorB" ref="af643cf90fb22709fe410164d8a46ea50" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localAnchorB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0e73d1d31126331267a1661beb146bc7"></a><!-- doxytag: member="b2PulleyJoint::m_constant" ref="a0e73d1d31126331267a1661beb146bc7" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_constant</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa44594b9b4826c565da387bed5f02470"></a><!-- doxytag: member="b2PulleyJoint::m_ratio" ref="aa44594b9b4826c565da387bed5f02470" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_ratio</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1e5b5fff8b1564688b38d139c5f7c65a"></a><!-- doxytag: member="b2PulleyJoint::m_impulse" ref="a1e5b5fff8b1564688b38d139c5f7c65a" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_impulse</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6ef68a1d29ef264d4c2ab2d363d9eb97"></a><!-- doxytag: member="b2PulleyJoint::m_indexA" ref="a6ef68a1d29ef264d4c2ab2d363d9eb97" args="" -->
int32&#160;</td><td class="memItemRight" valign="bottom"><b>m_indexA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acbeb702d3db8a9560d9d1d57ebb1e7f2"></a><!-- doxytag: member="b2PulleyJoint::m_indexB" ref="acbeb702d3db8a9560d9d1d57ebb1e7f2" args="" -->
int32&#160;</td><td class="memItemRight" valign="bottom"><b>m_indexB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8b49167603509d296aa8d04e46b13658"></a><!-- doxytag: member="b2PulleyJoint::m_uA" ref="a8b49167603509d296aa8d04e46b13658" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_uA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1354dfebc4658560b9d7e4b447b1dd5e"></a><!-- doxytag: member="b2PulleyJoint::m_uB" ref="a1354dfebc4658560b9d7e4b447b1dd5e" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_uB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4ebd669d4856b0c6d1d6f76d7a9eae2d"></a><!-- doxytag: member="b2PulleyJoint::m_rA" ref="a4ebd669d4856b0c6d1d6f76d7a9eae2d" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_rA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6be5e9ad2eeaee5cf25e1df61d923a58"></a><!-- doxytag: member="b2PulleyJoint::m_rB" ref="a6be5e9ad2eeaee5cf25e1df61d923a58" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_rB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a82741929b0aa083f520a3d7f9ef675bb"></a><!-- doxytag: member="b2PulleyJoint::m_localCenterA" ref="a82741929b0aa083f520a3d7f9ef675bb" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localCenterA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abd382cd6772fa3be1958c4845369f6c3"></a><!-- doxytag: member="b2PulleyJoint::m_localCenterB" ref="abd382cd6772fa3be1958c4845369f6c3" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localCenterB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7c37029c6b7117a07bb8be552b44ee3f"></a><!-- doxytag: member="b2PulleyJoint::m_invMassA" ref="a7c37029c6b7117a07bb8be552b44ee3f" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_invMassA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4e470cbc2e9f596c93e144630657534"></a><!-- doxytag: member="b2PulleyJoint::m_invMassB" ref="ad4e470cbc2e9f596c93e144630657534" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_invMassB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a701fbc685109f5b397b968be2407b123"></a><!-- doxytag: member="b2PulleyJoint::m_invIA" ref="a701fbc685109f5b397b968be2407b123" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_invIA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a19278e2f7dcec7275aff55b1d760b398"></a><!-- doxytag: member="b2PulleyJoint::m_invIB" ref="a19278e2f7dcec7275aff55b1d760b398" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_invIB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a60efdc42d9fd8f4c50f96eb68ff3f191"></a><!-- doxytag: member="b2PulleyJoint::m_mass" ref="a60efdc42d9fd8f4c50f96eb68ff3f191" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_mass</b></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a54ade8ed3d794298108d7f4c4e4793fa"></a><!-- doxytag: member="b2PulleyJoint::b2Joint" ref="a54ade8ed3d794298108d7f4c4e4793fa" args="" -->
class&#160;</td><td class="memItemRight" valign="bottom"><b>b2Joint</b></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The pulley joint is connected to two bodies and two fixed ground points. The pulley supports a ratio such that: length1 + ratio * length2 &lt;= constant Yes, the force transmitted is scaled by the ratio. Warning: the pulley joint can get a bit squirrelly by itself. They often work better when combined with prismatic joints. You should also cover the the anchor points with static shapes to prevent one side from going to zero length. </p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="b2_pulley_joint_8h_source.html">b2PulleyJoint.h</a></li>
<li>b2PulleyJoint.cpp</li>
</ul>
</div>
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